CN102152308B - For the method for the collision-free Trajectory Planning of industrial robot - Google Patents
For the method for the collision-free Trajectory Planning of industrial robot Download PDFInfo
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- CN102152308B CN102152308B CN201110037726.9A CN201110037726A CN102152308B CN 102152308 B CN102152308 B CN 102152308B CN 201110037726 A CN201110037726 A CN 201110037726A CN 102152308 B CN102152308 B CN 102152308B
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- 238000000034 method Methods 0.000 title claims abstract description 46
- 230000011218 segmentation Effects 0.000 claims description 76
- 238000000354 decomposition reaction Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 238000004088 simulation Methods 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40442—Voxel map, 3-D grid map
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40476—Collision, planning for collision free path
Abstract
The present invention relates to a kind of method of collision-free Trajectory Planning for industrial robot (1), the robots arm (2) that industrial robot (1) has control device (9) and utilizes control device (9) to move, object (11) is fixed on robots arm (2), and, the working space of industrial robot (1) is provided with at least one obstacle (12).
Description
Technical field
The present invention relates to a kind of method of collision-free Trajectory Planning for industrial robot.
Background technology
Industrial robot is Work machine, and it can equip the instrument for object carries out process and/or processing automatically, it is possible to multiple motion axle, such as, programmes with regard to direction, position and workflow. Industrial robot generally includes the robots arm with multiple axle and programmable logic controller (control device), and controller controls in operation or adjusts the moving process of industrial robot.
In order to realize motion, controller can plan this kind of motion by trajectory planning.
In the operation of industrial robot, it is desirable to industrial robot does not collide with object. As what happens in logistical applications, if utilizing industrial robot travelling load, the load so moved also should not collide with obstacle. Therefore the motion of industrial robot should be planned accordingly.
And " within 1992, IEEE/RSJ is about the meeting summary of intelligent robot and the international conference of system in " time the planning of collisionless real-time route in changing environment " for the people such as P.Adolphs, 7-10, in July, 1992, 445 to 452 pages " (" Collision-freereal-timepath-planningintimevaryingenviron ment ", " Proceedingsofthe1992IEEE/RSJInternationalConferenceonInt elligentRobotsandSystems, 7.-10.Juli1992, Seiten445bis452 ") in disclose a kind of in the three-dimensional configuration space of industrial robot of can cranking arm the method to model moving objects. this kind of method establishment is on the basis consulting form, and described form comprises the object in working space and the relation between the collisionless region in corresponding configuration space. configuration space is described in cylindrical coordinate system.
Summary of the invention
It is an object of the invention to propose a kind of method for collision-free Trajectory Planning of improvement.
This purpose of the present invention is achieved by a kind of method for the collision-free Trajectory Planning of industrial robot, the robots arm that industrial robot comprises control device and utilizes control device to move, object is fixing on the robotic arm, and at least one obstacle is set in the working space of industrial robot, the method has following step:
-based on the three-dimensional CAD model of working space of the obstacle with modeling, the cylindrical coordinate of the working space of industrial robot sets up three-dimensional model, wherein, by first segmentation (Segment) of at least one hollow cylinder, the obstacle of modeling is carried out modeling in the three-dimensional model
-it is multiple hollow cylinder and/or cylindrical two-section by the Region Decomposition not occupied by the first segmentation in three-dimensional model, and
-determine track, object should be moved to terminal from starting point by industrial robot on this track, and this object is only moved in two-section.
The another aspect of the present invention relates to a kind of industrial robot, its robots arm that there is control device and utilize control device to move, it is fixed with object on the robotic arm, and at least one obstacle is set in the working space of industrial robot, wherein, control device is set to, robots arm is moved, thus make object move to terminal along track from starting point, also control device is arranged to, determines track according to the method for the present invention.
Therefore, first method according to the present invention is set up with the three-dimensional model of cylindrical coordinate description, also it is exactly based on system of coordinates, wherein, system of coordinates comprises angle axle, half journal axle and altitude axis, or this system of coordinates is corresponding with coordinate angle (V), radius (R) and height (H). In order to avoid colliding during made object move from starting point to terminal by industrial robot and avoiding obstacles, motion track is based on the three-dimensional model of the working space of industrial robot. At this, working space is such a kind of space, and namely industrial robot can utilize its robots arm to drive towards this space, that is, can move object at this interior volume industrial robot.
At workspace memory at least one obstacle, object should not collide with obstacle in its motion. In order to prevent collision, according to the present invention, obstacle is approximately in the three-dimensional model at least one hollow cylinder segmentation. This kind approximate based on cad model generation, and wherein, cad model compares the working space of accurate modeled industrial robot especially, and therefore also obstacle is carried out modeling. Especially the size of the first segmentation or multiple first segmentation is set as so that it is surround whole obstacle.
Then Region Decomposition by not cylindrical model occupied by obstacle is multiple two-section. Owing to these regions are not occupied by obstacle, therefore now in two-section, likely change the track that industrial robot moves object.
Therefore, occur according to the collision-free Trajectory Planning of the present invention in the cylindrical work space of particularly 6 shaft industrial robots, and therefore and preferably it is applied in logistics (stacking/unload buttress), processing and other fields picking and placeing task.
The initial point of the cylindrical coordinate system corresponding with the cylindrical coordinate of model is preferably placed at the center of industrial robot.
The robots arm of the industrial robot used preferably includes frame (Gestell), be rotatably mounted around the vertical axle stretched about frame rotation rotating disk, rocking arm, cantilever and particularly have the multi-axis machine staff of flange, object is fixed on flange at least indirectly, such as by the clamper being fixed on flange. Altitude axis corresponding to the cylindrical coordinate system of the cylindrical coordinate of model can be preferably placed in the axle of robots arm. Usually it is labeled as axle 1 by rotating rotating disk around the axle rotated.
The advantage of this kind of distortion of the method according to the present invention is, it is possible to use special short as far as possible planning robot's track cycle time, because cylindrical search space (three-dimensional model) is preferably explained by the motion of axle 1.
In addition, in this fashion, so-called way of stacking can be abandoned in 6 axle robots, because the adjustment of mobile object can be planned in advance, it is even possible that comprise any inclination campaign of object. This kind of handiness allows possibility correct, new when stacking, such as the vertical parcel shelf on the underframe also do not moved empty, and such as is conducive to carrying the automatic planning of application.
Even if in order to not get rid of completely during object motion, but at least can reduce robots arm and the danger of obstacle collision, according to the one of the method for the present invention preferred embodiment, also additionally there is following step:
The posture of robots arm is simulated by position for the object corresponding with two-section in the three-dimensional model,
Determine to exist the two-section of the collision of robots arm and obstacle in the three-dimensional model, and
This two-section is classified as the 3rd segmentation of the collision that it determines robots arm and obstacle.
Thus finding such two-section, namely not by the segmentation of obstacle " occupying " in three-dimensional model, at object in process, robots arm and obstacle collide. If these segmentations (i.e. the 3rd segmentation) are determined, so they will not be used in trajectory planning, because trajectory planning is only based on two-section.
In order to determine described two-section whether can the collision of corresponding robots arm/obstacle, be also exactly be classified as the 3rd segmentation, it is possible to use such as based on method or the self-adaptation method (adaptivesVerfahren) of sampling.
For in two methods of collision detection, such as, for object determines multiple position in segmentation freely (i.e. two-section) at present, then these positions are sent in the simulation such as run in the control device of industrial robot.
For the collision detection utilizing the method based on sampling, such as object given in advance is in multiple positions of relevant two-section inside, and simulates corresponding robots arm's posture. If there is the collision of robots arm and obstacle at least one position of these positions, this two-section so can be classified as the 3rd segmentation. Otherwise, this two-section is still two-section.
Self-adaptation method uses range information (Distanzinformationen), guarantees collisionless in order to the part in two-section to be labeled as maximum possible. Continue for a long time like this, until proving that the two-section all having query is all collisionless, or residue ground retains part sectioned pieces (Segmentst ü ck), these sectioned pieces are no longer divided (detailed rules for the implementation), and therefore these sectioned pieces is called and can cause collision.
In order to obtain track, it is possible to first determine the segmented paths of two-section corresponding with track, contiguous, and calculate track on the basis of segmented paths.
Such as, trajectory planning is searched for based on (A*-Suche) by the so-called A*-of three-dimensional model inside, to find such as short or the most most economical segmented paths between starting point and terminal. A kind of distortion according to the present invention, can calculate track by this segmented paths subsequently, such as, use point-to-point calculating. Based on the calculating of model, this kind guarantees that object moves without collision along track. In order to calculate track by segmented paths, it is also possible to use circulationTo obtain such as big as far as possible circulation profile
Object can move along track with constant direction, and wherein, model is corresponding with this direction. This direction can be carried out different space allocations by the direction according to object, especially thus produces the different distributions of the 3rd segmentation.
As according to set in a kind of distortion of the inventive method, if object along track first with first party to moving, and then to move to different second directions from first party, then according to another kind of distortion of the inventive method, two three-dimensional models can be set up, wherein the first model corresponding to first party to, the 2nd model corresponding to second direction. Object thus can be made during movement to rotate without collision.
In order to guarantee that object does not collide with obstacle during rotating from first party to the object entering second direction, make object from first party to turning to second direction in a region in working space, this region is corresponding to a two-section or multiple two-section being associated, this region is enough big so that object in this two-section or multiple two-section from first party to leaving relevant two-section or multiple two-section when turning to second direction.
Accompanying drawing explanation
Exemplarily describe embodiments of the invention in the accompanying drawings.
Fig. 1 shows the industrial robot with control device and robot pump,
Fig. 2 show Modling model during the cross section of cylindrical model of working space of industrial robot,
Fig. 3 shows the segmentation of cylindrical model,
Fig. 4 shows cylindrical model another cross section in another establishment step,
Fig. 5 shows the 3-D view of cylindrical model,
Fig. 6 shows the 3-D view of cylindrical model in another establishment step,
Fig. 7-Fig. 9 shows the segmentation of model,
Figure 10 shows schema,
Figure 11 shows the 3-D view of another cylindrical model of the working space of industrial robot.
Embodiment
Fig. 1 illustrate in perspective view the industrial robot 1 with robots arm 2.
In the ongoing illustrated embodiment, robots arm 2 comprises multiple limbs arranging successively and being connected by joint. These limbs are related specifically to static or moveable frame 3 and the rotation rotating disk 4 being rotatably mounted around the vertical axle A1 (also can be labeled as axle 1) stretched relative to frame. In the ongoing illustrated embodiment, other limbs of robots arm 2 are Rocker arm 5, cantilever 6 and the robot 7 being preferably multiaxis, and robot 7 has flange 8. Rocker arm 5 is bearing on the bottom being such as positioned at and rotating unshowned pendulum bearing body on rotating disk 4 swingably around the axle A2 (being also labeled as axle 2) of the level of being preferably. On the other hand, the upper end of Rocker arm 5 is supported swingably around the same axle A3 being preferably level of cantilever 6. Cantilever 6 preferably utilizes its three axle A4, A5, A6 supporting machine staff 7 in end side.
In order to make industrial robot 1 or its robots arm 2 move, robots arm 2 comprises the driving mechanism of connection control device 9 in known manner, this driving mechanism particularly electric drive device. Illustrate only several motors 10 of these driving mechanisms in FIG.
In the ongoing illustrated embodiment, the flange 8 of industrial robot 1 is fixed with the clamper 10 of connection control device 9 in a not shown manner. Therefore when industrial robot runs, control device 9 or the computer program run in control device 9 can control and drive system and clampers 10, make flange 8 and therefore make clamper 10 perform motion given in advance, and utilize clamper 10 to capture object 11, then such as move into place B along track C from position A by means of industrial robot 1, and it is placed on the 2nd position B.
In the ongoing illustrated embodiment, there is at least one obstacle 12 in the career field of industrial robot 1, object 11 should not collide with obstacle 12 during it is moved by industrial robot 1. Also should complete the motion of industrial robot 1 like this, make together with the robots arm 2 of industrial robot 1 do not collide with obstacle 12. The working space of industrial robot 1 is such space, and industrial robot 1 can arrive this space at least in theory by its clamper 10.
In the ongoing illustrated embodiment. Moving calculation machine program on control device 9, this computer program utilizes the motion of trajectory planning setting industrial robot 1 and is performed subsequently.
In the ongoing illustrated embodiment, control device 9 is set, for setting up the three-dimensional model 13 of the working space of industrial robot 1. This modeling process is as follows:
First, in Descartes's working space with coordinate x, y, z (basic coordinates system) of industrial robot 1, setting up in fig. 2 with the cylindrical search space 22 shown in cross section around the center of industrial robot 1 or its basis system of coordinates, search space 22 has dimension 22 or coordinate(angle), r (radius) and h (highly).In the ongoing illustrated embodiment, the coordinate h of cylindrical coordinate system is special to match with axle A1, is also exactly the axle being rotatably mounted rotation rotating disk around it. The angle coordinate in cylindrical coordinate system or cylindrical search space 22Figure 2 illustrates with radius coordinate r.
In cylindrical search space 22, by utilizing the hollow cylinder described by the cylindrical coordinate of cylindrical coordinate system or unit lattice (Zellen), sector region or segmentation 20 to describe obstacle 12 and other possible obstacles. Figure 3 illustrates the 3-D view of the segmentation 20 being similar to obstacle 12.
In the ongoing illustrated embodiment, being modeled as three-dimensional cad model together with the obstacle that industrial robot 1 is possible with obstacle 12 and other or object, the so-called robot cell being also exactly corresponding with industrial robot 1 exists with the form of cad model. Accordingly, it may be possible to the obstacle 12 of institute's modeling in cad model is modeled as the search space 22 with segmentation 20 described in cylindrical coordinate system, wherein especially segmentation 20 is chosen as so that it is surround the obstacle 12 of institute's modeling in cad model completely. By multiple hollow cylinder or cylindrical segment 20, obstacle 12 can also be described. Therefore can obtain one or more segmentation 20 in cylindrical search space 22, which illustrate by the hollow cylinder occupied by obstacle 12 or cylindrical sector region or unit lattice. All the other regions 21 in search space 22 are not occupied by obstacle 12, and it comprises and is similarly hollow cylinder or the cylindrical lattice of unit freely, sector region or segmentation 23. Fig. 4 a to Fig. 4 c shows in the free segmentation 23 in cylindrical search space 22 the possible decomposition to free region 21.
All describing two segmentations 20 in the search space 20 shown by Fig. 4 a to Fig. 4 c, these two segmentations 20 are the corresponding region occupied by obstacle 12 searching for space 22 respectively.
Free region 21 is broken down into seven segmentations 23 in fig .4. In the embodiment shown by Fig. 4 a, decomposing along the angle coordinate of cylindrical coordinate system free region 21Occur.
Free region 21 is broken down into multiple segmentation 23 in fig. 4b. In the embodiment shown by Fig. 4 b, the radius coordinate r along cylindrical coordinate system that decomposes in free region 21 is occurred.
In the embodiment shown by Fig. 4 c, free region 21 is not only along the angle coordinate of cylindrical coordinate systemBut also be decomposed along the radius coordinate r of cylindrical coordinate system.
Forming three-dimensional element lattice, i.e. segmentation 23 by adding height coordinate h, their neighborhood relationships (Nachbarschaftsbeziehung) can be summarized in a width figure. This neighborhood relationships it is also conceivable to axle border and unit lattice/Descartes space of being forbidden by user congenital (priori). In addition, any information can be included in the inside, and is considered in planning afterwards.
Fig. 5 illustrate in perspective view the citing in the search space 22 of unit lattice or the segmentation 23 having occupied by obstacle 12.
Except those are by the segmentation 20 occupied by obstacle 12, it is possible to do not consider to retain following segmentation or the unit lattice in cylindrical search space 22, the segmentation that the industrial robot 1 namely with the object 11 captured by clamper 10 can not arrive or unit lattice.
In order to improve cylindrical search space 22 further, perform following step in the ongoing illustrated embodiment: subsequently, by the computer program run on control device 9, following situation is simulated: the industrial robot 1 with object 11 can pass through free segmentation 23, but robots arm does not collide with any one obstacle 12.This kind of simulation is based on the search space 22 with the segmentation 20 being occupied. According to the segmentation 24 that this kind of simulation acquired disturbance thing 12 can collide with robots arm 2. Consequent model is model 13, as shown in Figure 6.
In the ongoing illustrated embodiment, plan the motion of industrial robot 1 by means of the computer program run on control device 9 according to model 13. Industrial robot 1 is mobile according to planning subsequently so that object 11 moves to second position B along track C from first location A.
In the ongoing illustrated embodiment, path C is planned by the basis that the so-called A*-in search space 22 or model 13 inside searches for, to find short or the most most economical unit lattice path or segmented paths. Calculate track C by this unit lattice path or segmented paths subsequently, such as, use point-to-point calculating. Therefore, based on the calculating of model 13, this kind can guarantee that object 11 moves without collision along track C. In order to calculate track C by unit lattice path or segmented paths, it is also possible to use circulation, to obtain such as big as far as possible circulation profile.
In the ongoing illustrated embodiment, therefore, unit lattice or segmentation 22,23,24 can have following five kinds of states in search space 22 or model 13:
Enforcement mode according to robots arm 2, the search unit lattice in space 22, sector region or segmentation are not (" cannot arrive " (" OUT_OF_REACH ")) that can arrive.
Unit lattice are occupied (segmentation 20) by obstacle 12.
Robots arm 2 can collide with obstacle 12 together with (segmentation 24).
Unit lattice or segmentation can be split further. This is optional.
Unit lattice are not occupied or freely (segmentation 23).
In the ongoing illustrated embodiment, therefore distinguished between the collision of object 11 and obstacle 12 and the collision of robots arm 2 and obstacle 12 in crash tests. In the crash tests of object 11/ obstacle 12, determine have whether the segmentation 23 of query can hold object 12 completely especially. Solve while especially this is carried out geometrical shape, as shown in Figure 7.
When robots arm 21/ obstacle 12 is carried out crash tests, it is also possible to use following method: based on method and the self-adaptation method of sampling.
At two such as, for, in the method for collision detection, determining multiple position for object 11 in segmentation freely 23 at present, and send in the simulation such as run on control device 9.
Based on the method sampled as shown in Figure 8. In order to carry out collision detection, object 11 given in advance is in multiple positions of relevant segments 23 inside, and simulates corresponding robots arm's posture. If there is the collision of robots arm 2 with obstacle 12 at least one position of these positions 25, then corresponding free segmentation 23 being labeled as unit lattice or segmentation 24, wherein, causing the collision of robots arm 2 with obstacle 12 at object 11 through out-of-date.
For the method based on sampling, especially robots arm's posture is simulated so that object 11 occupies the position 25 of simulation. Such as, crash tests can be performed particularly as boolean's crash tests by means of collision recognition storehouse (Kollisionserkennungsbibliothek). If the position 25 of all simulations is all collisionless, then draw the following conclusions: whole segmentation 23 is collisionless. But this can not definitely be ensured, as it is possible that miss such as relatively little obstacle 12.
Advantage based on the method for sampling is that it is carried out relatively fast, because such as not having the distance of intensive calculations to calculate, but only must carry out crash tests on certain distance (step-length).But can not absolutely ensure collisionless in this case, and no matter that how intensive the sampling of unit lattice or segmentation 23 is.
In contrast, in self-adaptation method, use range information, ensure collisionless in order to a part for segmentation 23 to be labeled as. Thus carry out always, until proving that whole segmentations 23 is all collisionless, or residue ground retains part sectioned pieces (Segmentst ü ck), these sectioned pieces is no longer divided (enforcement details), and therefore these sectioned pieces is called and can cause collision. As shown in Figure 9.
For self-adaptation method, first robots arm's posture is simulated, make object 11 be positioned at a P1. Then, in search space 22, determine the minor increment between robot geometry and one or more obstacle 12. A part for the robot geometry that object 11 is particularly simulated. Collision calculation storehouse/distance such as can be used to calculate storehouse. Each point on robot geometry can do maximum motion now in this minor increment, and this is illustrated by summary as the circle or ball K that are used for three-dimensional applications in fig .9. The sealing surface 23a of segmentation 23 is collisionless. The further segmentation of segmentation 23 is produced sub-segmentation (Untersegmente) 23b, 23c and 23d, carries out this little segmentation in the same way now studying (there is the repetition process of failure condition (Abbruchbedingung)) further.
After setting up complete cell structure or segmental structure, namely model 13 is arranged in cylindrical coordinate as shown in Figure 6, and when necessary neighborhood relationships is listed in unit trrellis diagram shape/segmentation figure, get final product Graphics Application algorithm on this basis, such as determined the A* algorithm in the path of particularly cost the best by figure, this by absorption of costs to pattern edge. For the cost along edge, it is possible to definition such as arbitrary heuristic function, in addition, it is possible to along cylindrical coordinate (r, h,) realize as Descartes's distance of cost function and the Manhattan distance for measuring point-to-point motion.
The result of A* search is exactly the order (Sequenz) of free segmentation 23 by segmental structure, and industrial robot 1 can move object 11 according to this segmental structure. This order is called unit lattice path or segmented paths, and for obtaining track C.
In the ongoing illustrated embodiment, it is that industrial robot 1 forms point-to-point path by the unit lattice path found or segmented paths in ensuing calculation procedure. This point-to-point path is exactly track C, and object 11 should move on track C. Therefore, will guarantee that object 11 does not abandon segmentation 23 freely during it moves along track C in the ongoing illustrated embodiment, to prevent bumping against with obstacle 12.
In order to calculate track C, it is also possible to make point-to-point path become level and smooth in post-processing step, wherein, such as skip there is no need through unit lattice, sector region or segmentation, and it is deleted from path.
Such as, if edgeDirection is through two adjacent segmentations 23, and so this is consistent with the point-to-point motion around axle A1; It method along r direction and/or h direction is correspondingly then the point-to-point motion by axle A2 and A3. In the ongoing illustrated embodiment, therefore, the axle A4-A6 of robot 7 runs like this, it may also be useful to accurately kept in the first-selected direction of object 11, and namely object 11 only changes its position during moving along track C, but can not change its direction.
Such as, if Manhattan distance is used as cost function, it is possible to there is no enough points to calculate each track C, thus in this case may additionally by calculated example such as largest loop distance so that about doing further improvement cycle time.
The determined point-to-point path for track C can also be made to circulate. Thus can increase cycle time and therefore pass track C quickly. But, track C should be taken measures to make in this case to remain collisionless, namely no matter it is together with object 11 or robots arm 2 collide with obstacle 12.
Crash tests more consuming time can also be postponed, until it is definitely necessary. In the ongoing illustrated embodiment, this refers to the crash tests to robots arm 2, namely determines sector region 24. First the determination of segmentation 24 can also be carried out, though to be tested and at present segmentation freely 23 should appear in segmented paths and may by process, wherein, when object can collide through robots arm during segmentation 24 2 and obstacle 12. These are all concluded in Figure 10 together.
Therefore in this kind of distortion, it does not have the complete unit lattice calculating search space 20 in pre-treatment step decompose or segmentation decomposition, but information progressive updating in segmented paths relevant to the collisionless of segmentation 23 is first utilized.
In the ongoing illustrated embodiment, the direction of object 11 remains unchanged during it moves along track C. In addition, the segmentation 20,24 being occupied is determined according to the actual direction of object 11.
Can also be set in one embodiment of the invention, make industrial robot 1 change the direction of object during object moves along track C. In this case, for two directions or when setting is more than two directions, the search space 20 corresponding to each direction is determined in each direction for object 11, and determines corresponding segmentation 24 subsequently, and segmentation 24 is corresponding to the collision of robots arm 2/ obstacle 12.
In the embodiment shown in fig. 1, regulating object 11 so that it is deflection in the horizontal direction is greater than vertical direction. The model 13 corresponding with this direction of object 11 figure 6 illustrates.
If object 11 is at it along track C pivots during movement such as 90 ° now, then control device 9 can for example, it is determined that next model 13', and model 13' generates according to model 13, but also reflects the direction of the change of object 11. Then obtain another kind of segmentation division in search space 22 and it is consistent with model 13', as shown in figure 11.
In the other directions the direction of object 11 is redirected and can carry out enough greatly and in segmentation freely 23. For this reason, such as, in two segmentation decomposition, these segmentations 23 are connected to each other in search graph by edge.
Can also consider to redirect step by step by means of mid-way, such as, be impossible to arriving that the object 11 of terminal being positioned at the 2nd place B directly redirects from the starting point being positioned at the first place A. May need to calculate multiple cell structure for this reason, namely carry out correctly decomposing to every one-level of each object coordinate axis.
Utilize the symmetry of object 11 perhaps can save decomposition.
Being set to by object 11 especially, it redirected during it moves along track C in free segmentation 23, segmentation 23 can hold a spheroid, its size, and namely radius is selected so big, so that object 11 is surrounded in segmentation 23 completely. Then can realize redirecting arbitrarily object 11 in this segmentation, and therefore can rise to when decomposing every time during planning.
Claims (7)
1. the method for the collision-free Trajectory Planning of industrial robot (1), the robots arm (2) that described industrial robot (1) has control device (9) and can move by this control device (9), object (11) is fixed on described robots arm (2), having at least an obstacle (12) in the working space of described industrial robot (1), the method has following step:
Based on the three-dimensional CAD model of the described working space of the obstacle (12a) with modeling, the working space of described industrial robot (1) cylindrical coordinate (r, h,) in set up three-dimensional model (13,13'), wherein, at described three-dimensional model (13, by first segmentation (20) of at least one hollow cylinder, the obstacle (12a) of described modeling is carried out modeling in 13')
The region (21) not occupied by this first segmentation (20) in described three-dimensional model (13,13') is decomposed into multiple hollow cylinder and/or cylindrical two-section (23),
Determine track (C), described object (11) should be moved to terminal (B) from starting point (A) by described industrial robot (1) on this track (C), described object (11) is only moved in described two-section (23), wherein, described object (11) first with first party to and then to move to different second directions along described track (C) from this first party
In described three-dimensional model (13,13'), the posture of described robots arm (2) is simulated by position for the described object (11) corresponding with described two-section (23),
Described three-dimensional model (13,13') is determined to exist the two-section (23) of the collision of described robots arm (2) with described obstacle (12), and
The two-section (23) that there is the collision of described robots arm (2) with described obstacle (12) is classified as the 3rd segmentation (24) that it determines described robots arm (2) collision with described obstacle (12).
2. the method for claim 1, comprises step: will with the cylindrical coordinate of described three-dimensional model (13,13') (r, h,) initial point of corresponding cylindrical coordinate system is arranged on the center of described industrial robot (1).
3. method as claimed in claim 1 or 2, wherein, described robots arm (2) has frame (3), relative to this frame (3) around the rotation dish (4) of vertically extending axle (A1) rotatably support, rocking arm (5), cantilever (6) and the robot (7) with flange (8), described object (11) is fixed on described flange (8), the method has following steps: will with described three-dimensional model (13, cylindrical coordinate (r 13'), h) altitude axis of corresponding cylindrical coordinate system is arranged in the axle (A1) of described robots arm (2).
4. method as claimed in claim 1 or 2, comprises step: the segmented paths determining the adjacent two-section (23) corresponding with described track (C), and calculates described track (C) on the basis of this segmented paths.
5. the method for claim 1, comprises step: set up two three-dimensional models (13,13'), wherein the first model (13) corresponding to described first party to, the 2nd model (13') is corresponding to described second direction.
6. method as claimed in claim 5, comprise step: in the region in described working space, make described object (11) from described first party to turning to described second direction, this region is corresponding to a two-section (23) or multiple two-section (23) being associated, this region is enough big, make described object (11) in a two-section (23) corresponding to this region or multiple two-section (23) from described first party to leaving a relevant two-section (23) or multiple two-section (23) when turning to described second direction.
7. an industrial robot, its robots arm (2) that there is control device (9) and can move by this control device (9), object (11) is fixed on described robots arm (2), and in the working space of described industrial robot, it is provided with at least one obstacle (12), wherein, described control device (9) is set to described robots arm (2) is moved, thus make described object (11) move to terminal (B) along track (C) from starting point (A), and, described control device (9) be arranged to determine according to method as according to any one of claim 1 to 6 as described in track (C).
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| DE102010007458.6 | 2010-02-10 |
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Also Published As
| Publication number | Publication date |
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| CN102152308A (en) | 2011-08-17 |
| US8914152B2 (en) | 2014-12-16 |
| EP2353802A2 (en) | 2011-08-10 |
| US20110196533A1 (en) | 2011-08-11 |
| DE102010007458A1 (en) | 2011-08-11 |
| EP2353802A3 (en) | 2015-05-06 |
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